I'm working on a robot with two motion groups set up, and all new program creations default to 1,1,*..., but I only need to use the first group for the application I'm setting up.
I created a TP program that uses a lot of mathematically generated UFrame Offsets (rather like a simple palletizing pattern) on the taught points, and during my test run, ran into a strange issue: after a certain amount of offset, the robot started throwing Limit Errors for Group 2, A1. Which is weird, because I'm not using that axis (in fact, it's currently detatched from the robot). I did have the Group Mask of this program set to 1,1,*..., because I hadn't had any issues with that before.
After some digging about, I found that my line to assign a value to PR[i,j] was doing it to both groups. So after
PR[1,1] = 100
I would have a 100mm offset in X in the PR, but also a Joint offset of 100deg in G2A1.
I fixed this by changing the group mask to 1,*,*..., and hand-deleting all the unused GP2 data from the taught points in the program, but this raises a question: in a future scenario where I need to use PRs in a similar way on a robot where I need to have multiple motion groups active, how can I apply values only to a particular Group in a PR?